Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot

A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.

Automated summary

A kinematics analysis was conducted on a new hybrid mechanical leg for bipedal robots, and the walking gait of the robot on flat ground was planned. The kinematics of the hybrid mechanical leg were analyzed and relevant models were established. The robot walking was divided into three stages using the inverted pendulum model for gait planning, and the trajectories of the robot centroid motion and swinging leg joints were calculated. The feasibility of the mechanism design and gait planning was verified through dynamic simulation of the robot's virtual prototype. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.